From f9e14ffa30e0f512e53b87d00652639e3336415e Mon Sep 17 00:00:00 2001 From: Andy Piper Date: Wed, 29 Dec 2021 20:41:01 +0000 Subject: [PATCH] AP_HAL_ChibiOS: add support BeastF7v2 --- libraries/AP_HAL_ChibiOS/hwdef/BeastF7/hwdef.dat | 12 ++++++++---- 1 file changed, 8 insertions(+), 4 deletions(-) diff --git a/libraries/AP_HAL_ChibiOS/hwdef/BeastF7/hwdef.dat b/libraries/AP_HAL_ChibiOS/hwdef/BeastF7/hwdef.dat index 907d10f071..1ea7cbe48b 100644 --- a/libraries/AP_HAL_ChibiOS/hwdef/BeastF7/hwdef.dat +++ b/libraries/AP_HAL_ChibiOS/hwdef/BeastF7/hwdef.dat @@ -37,8 +37,8 @@ PA12 OTG_FS_DP OTG1 PA13 JTMS-SWDIO SWD PA14 JTCK-SWCLK SWD -# SPI1 for MPU6000 -PA4 MPU6000_CS CS +# SPI1 for BMI270 +PA4 BMI270_CS CS PA5 SPI1_SCK SPI1 PA6 SPI1_MISO SPI1 PA7 SPI1_MOSI SPI1 @@ -112,7 +112,8 @@ STORAGE_FLASH_PAGE 1 define HAL_LOGGING_DATAFLASH_ENABLED 1 # spi devices -SPIDEV mpu6000 SPI1 DEVID1 MPU6000_CS MODE3 1*MHZ 4*MHZ +SPIDEV mpu6000 SPI1 DEVID1 BMI270_CS MODE3 1*MHZ 4*MHZ +SPIDEV bmi270 SPI1 DEVID1 BMI270_CS MODE3 10*MHZ 10*MHZ SPIDEV dataflash SPI3 DEVID2 FLASH_CS MODE3 32*MHZ 32*MHZ SPIDEV osd SPI4 DEVID4 AT7456E_CS MODE0 10*MHZ 10*MHZ @@ -121,12 +122,15 @@ define ALLOW_ARM_NO_COMPASS define HAL_COMPASS_DEFAULT HAL_COMPASS_NONE define HAL_I2C_INTERNAL_MASK 0 -# one IMU +# one IMU, v1 mpu6000 and v2 bmi270 IMU Invensense SPI:mpu6000 ROTATION_YAW_270 +IMU BMI270 SPI:bmi270 ROTATION_ROLL_180_YAW_225 define HAL_DEFAULT_INS_FAST_SAMPLE 1 # one BARO BARO BMP280 I2C:0:0x76 +# v2 has no BARO +define HAL_BARO_ALLOW_INIT_NO_BARO 1 # setup for OSD define OSD_ENABLED 1